private HashSet <Predicate> ReachablePredicates(HashSet <Predicate> lInitial, List <Action> lFiltered)
{
HashSet <Predicate> lReachable = new HashSet <Predicate>(lInitial);
List <Action> lUnapplied = new List <Action>(lFiltered);
bool bChanged = true;
while (bChanged)
{
bChanged = false;
List <Action> lNewUnapplied = new List <Action>();
foreach (Action a in lUnapplied)
{
//if (a.Name.Contains("p3-1") && a.Name.Contains("smell"))
// Console.WriteLine("*");
if (a.Preconditions.IsTrue(lReachable, true))
{
Formula f = a.GetApplicableEffects(lReachable, true);
HashSet <Predicate> lEffects = f.GetAllPredicates();
foreach (Predicate p in lEffects)
{
if (lReachable.Add(p))
{
bChanged = true;
}
}
}
else
{
lNewUnapplied.Add(a);
}
}
lUnapplied = lNewUnapplied;
}
return(lReachable);
}
private CompoundFormula AddKnowledgePredicatesToFormula(Formula f, HashSet <Predicate> lKnowPredicates)
{
CompoundFormula cf = new CompoundFormula("and");
HashSet <Predicate> lPredicates = new HashSet <Predicate>();
f.GetAllPredicates(lPredicates);
foreach (Predicate p in lPredicates)
{
if (lKnowPredicates.Contains(p))
{
KnowPredicate kp = new KnowPredicate(p);
cf.AddOperand(new PredicateFormula(kp));
}
}
if (f is CompoundFormula && ((CompoundFormula)f).Operator == "and")
{
foreach (Formula fSub in ((CompoundFormula)f).Operands)
{
cf.AddOperand(fSub);
}
}
else
{
cf.AddOperand(f);
}
return(cf);
}
private void FilterActions(List <Action> lGrounded, Formula fCurrent, List <Action> lFiltered, List <Action> lLandmarkAchievers)
{
HashSet <Predicate> lLandmark = fCurrent.GetAllPredicates();
foreach (Action a in lGrounded)
{
HashSet <Predicate> lConditionalEffects = new HashSet <Predicate>(), lNonConditionalEffects = new HashSet <Predicate>();
a.Effects.GetAllEffectPredicates(lConditionalEffects, lNonConditionalEffects);
bool bAchieveLandmark = false;
foreach (Predicate p in lLandmark)
{
if (lConditionalEffects.Contains(p) || lNonConditionalEffects.Contains(p))
{
bAchieveLandmark = true;
break;
}
}
if (bAchieveLandmark)
{
lLandmarkAchievers.Add(a);
}
else
{
lFiltered.Add(a);
}
}
}
public RegressionHeuristic(Domain d, Formula fGoal, bool bMax)
{
m_dDomain = d;
m_bMax = bMax;
m_lGoal = new List<Predicate>(fGoal.GetAllPredicates());
//ComputeFullRegression();
}
public RegressionHeuristic(Domain d, Formula fGoal, bool bMax)
{
m_dDomain = d;
m_bMax = bMax;
m_lGoal = new List <Predicate>(fGoal.GetAllPredicates());
//ComputeFullRegression();
}
public HSPHeuristic(Domain d, Formula fGoal, bool bMax)
{
m_dDomain = d;
m_bMax = bMax;
m_lGoal = new List <Predicate>(fGoal.GetAllPredicates());
//foreach (PredicateFormula vf in ((CompoundFormula)fGoal).Operands)
// m_lGoal.Add(vf.Predicate);
//ComputeAllEffectsPreconditions();
}
public HSPHeuristic(Domain d, Formula fGoal, bool bMax)
{
m_dDomain = d;
m_bMax = bMax;
m_lGoal = new List<Predicate>(fGoal.GetAllPredicates());
//foreach (PredicateFormula vf in ((CompoundFormula)fGoal).Operands)
// m_lGoal.Add(vf.Predicate);
//ComputeAllEffectsPreconditions();
}
private void FilterActions(List <Action> lGrounded, Formula fCurrent, List <Action> lFiltered, List <Action> lLandmarkAchievers,
Dictionary <Predicate, List <Action> > dPreconditionToAction, Dictionary <Predicate, List <Action> > dEffectToAction,
HashSet <Predicate> lInitialState)
{
HashSet <Predicate> lLandmark = fCurrent.GetAllPredicates();
HashSet <string> hsPreNames = new HashSet <string>();
HashSet <string> hsEffectNames = new HashSet <string>();
foreach (Predicate p in lLandmark)
{
if (!lInitialState.Contains(p))
{
if (dPreconditionToAction.ContainsKey(p))
{
foreach (Action a in dPreconditionToAction[p])
{
hsPreNames.Add(a.Name);
}
}
}
if (dEffectToAction.ContainsKey(p))
{
foreach (Action a in dEffectToAction[p])
{
hsEffectNames.Add(a.Name);
}
}
}
foreach (Action a in lGrounded)
{
//if (a.Name.Contains("p3-1") && a.Name.Contains("smell"))
// Console.WriteLine("*");
if (hsEffectNames.Contains(a.Name))
{
lLandmarkAchievers.Add(a);
}
else if (!hsPreNames.Contains(a.Name))
{
lFiltered.Add(a);
}
}
}
private Dictionary <Predicate, List <Action> > GetLandmarkAchievers(Formula fLandmark, HashSet <Predicate> lAllReachable, List <Action> lPotentialLandmarkAchievers)
{
Dictionary <Predicate, List <Action> > dActions = new Dictionary <Predicate, List <Action> >();
HashSet <Predicate> lLandmark = fLandmark.GetAllPredicates();
foreach (Predicate p in lLandmark)
{
dActions[p] = new List <Action>();
foreach (Action a in lPotentialLandmarkAchievers)
{
if (a.Preconditions.IsTrue(lAllReachable))
{
Formula fEffects = a.GetApplicableEffects(lAllReachable, false);
HashSet <Predicate> lEffects = fEffects.GetAllPredicates();
if (lEffects.Contains(p))
{
dActions[p].Add(a);
}
}
}
}
return(dActions);
}
private Dictionary<Predicate, List<Action>> GetLandmarkAchievers(Formula fLandmark, HashSet<Predicate> lAllReachable, List<Action> lPotentialLandmarkAchievers)
{
Dictionary<Predicate, List<Action>> dActions = new Dictionary<Predicate, List<Action>>();
HashSet<Predicate> lLandmark = fLandmark.GetAllPredicates();
foreach (Predicate p in lLandmark)
{
dActions[p] = new List<Action>();
foreach (Action a in lPotentialLandmarkAchievers)
{
if (a.Preconditions.IsTrue(lAllReachable))
{
Formula fEffects = a.GetApplicableEffects(lAllReachable, false);
HashSet<Predicate> lEffects = fEffects.GetAllPredicates();
if (lEffects.Contains(p))
{
dActions[p].Add(a);
}
}
}
}
return dActions;
}
private void FilterActions(List<Action> lGrounded, Formula fCurrent, List<Action> lFiltered, List<Action> lLandmarkAchievers,
Dictionary<Predicate, List<Action>> dPreconditionToAction, Dictionary<Predicate, List<Action>> dEffectToAction,
HashSet<Predicate> lInitialState)
{
HashSet<Predicate> lLandmark = fCurrent.GetAllPredicates();
HashSet<string> hsPreNames = new HashSet<string>();
HashSet<string> hsEffectNames = new HashSet<string>();
foreach (Predicate p in lLandmark)
{
if (!lInitialState.Contains(p))
{
if (dPreconditionToAction.ContainsKey(p))
{
foreach (Action a in dPreconditionToAction[p])
hsPreNames.Add(a.Name);
}
}
if (dEffectToAction.ContainsKey(p))
{
foreach (Action a in dEffectToAction[p])
hsEffectNames.Add(a.Name);
}
}
foreach (Action a in lGrounded)
{
//if (a.Name.Contains("p3-1") && a.Name.Contains("smell"))
// Console.WriteLine("*");
if (hsEffectNames.Contains(a.Name))
lLandmarkAchievers.Add(a);
else if(!hsPreNames.Contains(a.Name))
lFiltered.Add(a);
}
}
private void FilterActions(List<Action> lGrounded, Formula fCurrent, List<Action> lFiltered, List<Action> lLandmarkAchievers)
{
HashSet<Predicate> lLandmark = fCurrent.GetAllPredicates();
foreach (Action a in lGrounded)
{
HashSet<Predicate> lConditionalEffects = new HashSet<Predicate>(), lNonConditionalEffects = new HashSet<Predicate>();
a.Effects.GetAllEffectPredicates(lConditionalEffects, lNonConditionalEffects);
bool bAchieveLandmark = false;
foreach (Predicate p in lLandmark)
{
if (lConditionalEffects.Contains(p) || lNonConditionalEffects.Contains(p))
{
bAchieveLandmark = true;
break;
}
}
if (bAchieveLandmark)
lLandmarkAchievers.Add(a);
else
lFiltered.Add(a);
}
}
private CompoundFormula AddKnowledgePredicatesToFormula(Formula f, HashSet<Predicate> lKnowPredicates)
{
CompoundFormula cf = new CompoundFormula("and");
HashSet<Predicate> lPredicates = new HashSet<Predicate>();
f.GetAllPredicates(lPredicates);
foreach (Predicate p in lPredicates)
{
if (lKnowPredicates.Contains(p))
{
KnowPredicate kp = new KnowPredicate(p);
cf.AddOperand(new PredicateFormula(kp));
}
}
if (f is CompoundFormula && ((CompoundFormula)f).Operator == "and")
{
foreach (Formula fSub in ((CompoundFormula)f).Operands)
cf.AddOperand(fSub);
}
else
cf.AddOperand(f);
return cf;
}